# coding=utf-8
# Copyright 2024 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
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"""Utility functions for geometric computation."""

import numpy as np


def construct_rt(r, t, inverse=False):
  """Construct a transformation matrix."""
  rt = np.eye(4)
  if r is not None:
    rt[:3, :3] = r
  if t is not None:
    rt[:3, 3] = t
  if inverse:
    rt = np.linalg.inv(rt)
  return rt
